rosbag 0.6.3

Utilities for reading ROS bag files.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65

use byteorder::{ByteOrder, LE};

pub(crate) struct Cursor<'a> {
    data: &'a [u8],
    pos: u64,
}

#[derive(Debug, Copy, Clone)]
pub struct OutOfBounds;

impl<'a> Cursor<'a> {
    pub fn new(data: &'a [u8]) -> Self {
        Self { data, pos: 0 }
    }

    pub fn seek(&mut self, pos: u64) -> Result<(), OutOfBounds> {
        if pos > self.len() {
            return Err(OutOfBounds);
        }
        self.pos = pos;
        Ok(())
    }

    pub fn pos(&self) -> u64 {
        self.pos
    }

    pub fn len(&self) -> u64 {
        self.data.len() as u64
    }

    pub fn left(&self) -> u64 {
        self.data.len() as u64 - self.pos()
    }

    pub fn next_bytes(&mut self, n: u64) -> Result<&'a [u8], OutOfBounds> {
        if self.pos + n > self.len() {
            return Err(OutOfBounds);
        }
        let s = self.pos as usize;
        self.pos += n;
        Ok(&self.data[s..self.pos as usize])
    }

    pub fn next_chunk(&mut self) -> Result<&'a [u8], OutOfBounds> {
        let n = self.next_u32()? as u64;
        self.next_bytes(n)
    }

    pub fn next_u32(&mut self) -> Result<u32, OutOfBounds> {
        Ok(LE::read_u32(self.next_bytes(4)?))
    }

    /*
    pub fn next_u64(&mut self) -> Result<u64, OutOfBounds> {
        Ok(LE::read_u64(self.next_bytes(4)?))
    }
    */

    pub fn next_time(&mut self) -> Result<u64, OutOfBounds> {
        let s = self.next_u32()? as u64;
        let ns = self.next_u32()? as u64;
        Ok(1_000_000_000 * s + ns)
    }
}